U.S. patent application number 16/465985 was filed with the patent office on 2020-10-08 for unmanned aerial vehicles and flight planning methods and apparatus.
The applicant listed for this patent is Intel Corporation. Invention is credited to Muhammad Abozaed, David W. Browning, Kirk W. Skeba, Anuradha Srinivasan.
Application Number | 20200317334 16/465985 |
Document ID | / |
Family ID | 1000004917233 |
Filed Date | 2020-10-08 |
United States Patent
Application |
20200317334 |
Kind Code |
A1 |
Skeba; Kirk W. ; et
al. |
October 8, 2020 |
UNMANNED AERIAL VEHICLES AND FLIGHT PLANNING METHODS AND
APPARATUS
Abstract
Unmanned aerial vehicles and flight planning methods and
apparatus are disclosed. An example apparatus includes an unmanned
vehicle including a body and a propulsion source to propel the
unmanned vehicle during flight; and a route planner to determine a
route through an area including a restriction, the route planner to
negotiate access through the restricted area.
Inventors: |
Skeba; Kirk W.; (Fremont,
CA) ; Browning; David W.; (Beaverton, OR) ;
Abozaed; Muhammad; (Haifa, IL) ; Srinivasan;
Anuradha; (Bangalore, IN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Intel Corporation |
Santa Clara |
CA |
US |
|
|
Family ID: |
1000004917233 |
Appl. No.: |
16/465985 |
Filed: |
August 28, 2017 |
PCT Filed: |
August 28, 2017 |
PCT NO: |
PCT/US17/48950 |
371 Date: |
December 19, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B64C 39/024 20130101;
B64C 2201/127 20130101; G05D 1/0022 20130101; B64C 2201/141
20130101 |
International
Class: |
B64C 39/02 20060101
B64C039/02; G05D 1/00 20060101 G05D001/00 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 15, 2016 |
IN |
201641042730 |
Claims
1-25. (canceled)
26. An unmanned vehicle comprising: a body; a propulsion source to
propel the unmanned vehicle during flight; and a route planner tool
to: compare a restriction in a restricted area with a configuration
of the unmanned vehicle to determine whether the configuration of
the unmanned vehicle is compliant with the restriction; and in
response to the configuration of the unmanned vehicle being
compliant with the restriction, determine a route for the unmanned
vehicle to travel through the restricted area.
27. The unmanned vehicle of claim 26, wherein the route planner
tool is to compare a mission objective of the unmanned vehicle to
the restriction to determine compliance of the unmanned vehicle
with the restriction, the unmanned vehicle to be granted access
through the restricted area based on the mission objective
complying with the restriction.
28. The unmanned vehicle of claim 27, wherein in response to
identifying the restriction along the route, the route planner tool
is to access restriction data associated with the restriction.
29. The unmanned vehicle of claim 28, wherein the route planner
tool is to access the restriction data prior to flight.
30. The unmanned vehicle of claim 26, wherein the route planner
tool includes a configuration identifier to determine a
configuration of the unmanned vehicle, the configuration including
at least one of a presence of a camera on the unmanned vehicle, a
number of motors on the unmanned vehicle, a number of propellers on
the unmanned vehicle, a data transmission capability, a data
storage capability, a video storage capability, or a maximum speed
of the unmanned vehicle.
31. The unmanned vehicle of claim 26, wherein in response to the
unmanned vehicle not complying with the restriction, the route
planner tool is to command the unmanned vehicle to change the
configuration of the unmanned vehicle to enable the unmanned
vehicle to comply with the restriction when the unmanned vehicle
travels through the restricted area.
32. The unmanned vehicle of claim 26, wherein the route planner
tool includes a location determiner and a location comparator, the
location determiner to determine first positional data of the
unmanned vehicle and the location comparator to compare the first
positional data to second positional data of the restricted area to
determine when the first positional data is within a threshold of
the second positional data.
33. The unmanned vehicle of claim 32, wherein in response to the
unmanned vehicle not complying with the restriction and the first
positional data being within the threshold of the second positional
data, the route planner tool is to change the configuration of the
unmanned vehicle to enable the unmanned vehicle to comply with the
restriction when the unmanned vehicle travels through the
restricted area.
34. The unmanned vehicle of claim 26, wherein the route planner
tool includes a notice generator to generate a notice associated
with the unmanned vehicle complying with the restriction.
35. The unmanned vehicle of claim 26, wherein, in response to the
configuration of the unmanned vehicle not complying with the
restriction and the restriction including an access fee associated
therewith, the route planner tool is to initiate payment of the
access fee.
36. The unmanned vehicle of claim 35, wherein in response to the
route planner tool initiating the payment of the access fee, the
unmanned vehicle is to access the restricted area.
37. The unmanned vehicle of claim 26, wherein the route includes a
first route and the route planner tool includes a flight path
determiner to, in response to a mission objective of the unmanned
vehicle not complying with the restriction, determine a second
route that avoids traveling through the restricted area.
38. A method, comprising: comparing, by executing an instruction
with at least one processor, a restriction in a restricted area
with a configuration of an unmanned vehicle to determine whether
the configuration of the unmanned vehicle is compliant with the
restriction; and in response to the configuration of the unmanned
vehicle being compliant with the restriction, determining, by
executing an instruction with the at least one processor, a route
for the unmanned vehicle to travel through the restricted area.
39. The method of claim 38, further including comparing a mission
objective of the unmanned vehicle to the restriction to determine
compliance of the unmanned vehicle with the restriction, the
unmanned vehicle granted access through the restricted area in
response to the unmanned vehicle complying with the
restriction.
40. The method of claim 38, further including determining a
configuration of the unmanned vehicle, the configuration including
at least one of a presence of a camera on the unmanned vehicle, a
number of motors on the unmanned vehicle, a number of propellers on
the unmanned vehicle, a data transmission capability, a data
storage capability, a video storage capability, or a maximum speed
of the unmanned vehicle.
41. The method of claim 38, further including, in response to the
unmanned vehicle not complying with the restriction, changing the
configuration of the unmanned vehicle to enable the unmanned
vehicle to comply with the restriction when the unmanned vehicle
travels through the restricted area.
42. A tangible computer-readable medium comprising instructions
that, when executed, cause at least one processor to, at least:
compare a restriction in a restricted area with a configuration of
an unmanned vehicle to determine whether the configuration of the
unmanned vehicle is compliant with the restriction; and in response
to the configuration of the unmanned vehicle being compliant with
the restriction, determine a route for the unmanned vehicle to
travel through the restricted area.
43. The computer-readable medium as defined in claim 42, wherein
the instructions, when executed, cause the at least one processor
to determine a configuration of the unmanned vehicle, the
configuration including at least one of a presence of a camera on
the unmanned vehicle, a number of motors on the unmanned vehicle, a
number of propellers on the unmanned vehicle, a data transmission
capability, a data storage capability, a video storage capability,
or a maximum speed of the unmanned vehicle.
44. The computer-readable medium as defined in claim 43, wherein
the instructions, when executed, cause the at least one processor
to command the unmanned vehicle to change a setting associated with
the configuration of the unmanned vehicle to enable the unmanned
vehicle to comply with the restriction when the unmanned vehicle
travels through the restricted area in response to the unmanned
vehicle not complying with the restriction, the setting including
at least one of whether the camera is enabled, whether one or more
of the motors are enabled, whether one or more of the propellers
are enabled, whether the data transmission capability is enabled,
whether the data storage capability is enabled, whether the video
storage capability is enabled, or a speed of the unmanned
vehicle.
45. The computer-readable medium as defined in claim 44, wherein
the instructions, when executed, cause the at least one processor
to determine first positional data of the unmanned vehicle and
compare the first positional data to second positional data of the
restricted area to determine when the first positional data is
within a threshold of the second positional data; and to change the
configuration of the unmanned vehicle to enable the unmanned
vehicle to comply with the restriction when the unmanned vehicle
travels through the restricted area in response to the unmanned
vehicle not complying with the restriction and the first positional
data being within the threshold of the second positional data.
Description
FIELD OF THE DISCLOSURE
[0001] This disclosure relates generally to unmanned aerial
vehicles, and, more particularly, to unmanned aerial vehicles and
flight planning methods and apparatus.
BACKGROUND
[0002] When planning a flight, no-fly zones may be taken into
account. In some examples, no-fly zones prevent the aircraft from
flying therethrough. If the aircraft cannot fly through the no-fly
zone, the flight time or distance traveled may be greater than if
the aircraft were permitted to fly through the no-fly zone.
BRIEF DESCRIPTION OF THE DRAWINGS
[0003] FIG. 1 is a schematic illustration of an example environment
of use where an example unmanned aerial vehicle including an
example route planner can be used.
[0004] FIG. 2 is a block diagram of an example implementation of
the example route planner of FIG. 1.
[0005] FIG. 3 is a block diagram of an example implementation of an
example area controller that can be used to implement the first
area controller, the second area controller and/or the third area
controller of FIG. 1.
[0006] FIG. 4 is a flowchart representative of machine readable
instructions that may be executed to implement the route planner of
FIGS. 1 and 2.
[0007] FIG. 5 is a flow chart representative of machine readable
instructions that may be executed to implement the route planner of
FIGS. 1 and 2 and to perform the processes of FIG. 4 to negotiate
access through a restricted area(s) along a flight path associated
with a mission objective.
[0008] FIG. 6 is a flow chart representative of machine readable
instructions that may be executed to implement the route planner of
FIGS. 1 and 2 and to perform the processes of FIG. 4 to dynamically
adjust the configuration of the UAV based on the first and second
positional data to enable compliancy with a restriction.
[0009] FIG. 7 is a flowchart representative of machine readable
instructions that may be executed to implement the respective area
controllers of FIGS. 1 and 2.
[0010] FIG. 8 is a processor platform to execute the instructions
of FIGS. 4, 5 and 6 to implement the route planner of FIGS. 1
and/or 2.
[0011] FIG. 9 is a processor platform to execute the instructions
of FIG. 7 to implement the respective area controllers of FIGS. 1
and/or 3.
[0012] The figures are not to scale. Wherever possible, the same
reference numbers will be used throughout the drawing(s) and
accompanying written description to refer to the same or like
parts.
DETAILED DESCRIPTION
[0013] In some examples, a person or other entity associated with
an area (e.g., a geo-fenced area) may implement a restriction(s)
that affects a flight path of an unmanned aerial vehicle (UAV)
and/or unmanned vehicle (UV) through the area. The restriction(s)
may be associated with the capabilities of the UAV when flying
through the area, the payload the UAV may carry when flying through
the area and/or the time the UAV may fly through the area.
Additionally and/or alternatively, the restriction(s) may be
associated with the weight the UAV may be when flying through the
area, the speed that the UAV may fly when flying through the area,
the noise the UAV may generate when flying through the area, the
pitch that the propellers of the UAV may have when flying through
the area and/or the number of motors that the UAV may operate when
flying through the area.
[0014] To enable UAVs a more direct flight path and/or route
through these restricted areas, the examples disclosed herein
enable UAVs to negotiate access through these restricted areas
based on the UAV complying with the restriction(s) and/or paying an
access fee or toll. In other words, the examples disclosed herein
enable UAVs that comply with an imposed restriction and/or fulfill
some other requirement (e.g., pay a toll) access through an
otherwise restricted area. Thus, the examples disclosed herein
enable faster flight times, more efficient flights and, more
generally, save cost by reducing flight times and/or fuel/energy
consumption. The negotiation may take place prior to take off, in
real-time and/or dynamically during the course of the flight.
Regardless of when the negotiation takes place, in some examples,
the UAVs include a control(s), a set of controls and/or an
attribute profile(s) that publicly discloses compliancy and/or the
configuration(s) of the UAV. Such an approach of communicating
compliance of a UAV flying over an area (e.g., a semi-restricted
area, a private area, a restricted area, etc.) may reduce some
privacy concerns associated with UAVs such as, for example, privacy
concerns associated with image data and/or video data being
obtained of private events.
[0015] In some examples, after determining that a possible flight
path travels through a restricted area and negotiating access
through the restricted area, the UAV provides a notice that
certifies compliance with the restriction. The notice may be
provided to the restricted area and/or a controller associated with
the restricted area. In some examples, the notice may be provided
prior to flight and/or during flight.
[0016] In some examples, the notice certifying compliance may
include an identification of the UAV, a description of the UAV
(e.g., a delivery UAV, a surveillance UAV), the number of motors
(e.g. four controllable motors) being operated by the UAV and/or
the noise (e.g., 90 decibels (dB)) being emitted by the UAV.
Additionally and/or alternatively, in some examples, the notice
certifying compliance may include the presence and/or status of a
camera on the UAV, the video storage capabilities of the UAV and/or
the global positioning system (GPS) capabilities of the UAV.
Additionally and/or alternatively, in some examples, the notice
certifying compliance may include the presence and/or capabilities
of an inertial measurement unit (IMU) on the UAV, the maximum speed
of the UAV, the minimum speed of the UAV, the weight of the payload
carried by the UAV, the presence of hazardous material(s) within
the payload carried by the UAV and/or the content(s) of the payload
carried by the UAV. In other words, the notice certifying
compliance and/or the configuration of the UAV may include
different parameters and/or data associated with the UAV, the
mission of the UAV, etc.
[0017] Because the restrictions imposed by some areas may adversely
affect and/or compromise other objectives of a mission, the
examples disclosed herein enable configurations and/or settings of
UAVs to be dynamically adjusted during flight. For example, if a
first area imposes a no-camera restriction and the objective of the
mission is to obtain image data of a second area, the UAV may
dynamically disable and/or turn the camera off when flying through
the first area and enable and/or turn the camera on when flying
over the second area. Thus, the UAV is able to comply with the
no-camera restriction imposed by the first area and enable the
mission objective of obtaining image data of the second area to be
achieved. While this example mentions enabling and disabling a
camera, other examples exist of dynamically controlling a UAV
subsystem(s) to enable compliance with different restrictions
imposed by different areas. For example, the speed, the noise
output, the blade pitch and/or the number of motors being operated
may be changed to enable a UAV to comply with a particular
restriction(s) using hardware, a control system and/or a power
mechanism(s) onboard the UAV.
[0018] To enable the UAV to comply with different restrictions
imposed by an area, the UAV may communicate with a ground-based
system, an air-based system and/or a space-based system prior to
and/or during a mission and/or flight. The communication between
the UAV and the respective system(s) may be accomplished in any
suitable way. For example, communication between the UAV and the
ground-based system may take place over a peer-to-peer (P2P) mesh
network(s) and/or a primary communication network(s). In examples
in which a P2P is used, the UAV may communicate with a
transmitter(s) on the ground to enable real-time flight planning
and/or negotiation between the UAV and the area implementing a
restriction. In examples in which a primary communication
network(s) (e.g., third generation (3G), long-term evolution (LTE))
is used, the UAV may report (e.g., periodically report) its
position to the primary communication network to enable real-time
flight planning and/or negotiation between the UAV and the area
implementing a restriction. In either of these examples, satellite
dishes, communication towers, satellites, etc., may be used to
convey information (e.g., normal communication, emergency
communication) to and from the UAV. In some examples, fees may be
charged for using these P2P networks and/or associated
infrastructures.
[0019] While in some examples the UAV and/or the associated mission
may be in compliance with a restriction imposed on an area, other
examples exist where the UAV and/or the mission does not comply
with the restriction and/or other circumstances arise that prevent
compliance with the restriction (e.g., range/energy/battery life
and/or system health of the UAV). For example, if the mission
objective requires that the flight occur at 7:00 pm and an area
implements a no-fly restriction after 6:00 pm, the UAV would be
unable to fly through the area without breaking the 6:00 pm curfew
unless a compromise is reached. In some examples, to enable the
mission objectives to be achieved while also being granted access
after the 6:00 pm curfew, the negotiation may include paying a toll
and/or access fee to fly through the area after the 6:00 pm no-fly
restriction. Such a negotiation may occur prior to flight, during
the mission and/or flight and/or in real-time.
[0020] FIG. 1 illustrates an example unmanned aerial vehicle (UAV)
102 having a propulsion source, engines and/or propellers 103
navigating through an example environment 104. As shown in the
example of FIG. 1, the environment 104 includes a first restricted
area 106 associated with a first area controller 108, a second
restricted area 110 associated with a second area controller 112
and a third restricted area 114 associated with a third area
controller 116. The restricted areas 106, 110 and 114 may be
generated through geo-fencing software and may be associated with
an individual building, a group of buildings (e.g., a block) and/or
any other geographic area. In this example, the UAV 102 includes
and/or is associated with an example route planner 118 that
communicates with the first, second and/or third area controllers
108, 112, 116. In some examples, the UAV 102 and/or the first,
second and/or third area controllers 108, 112, 116 communicate over
an example server 120 via an example wireless access point 122, an
example cellular base station 124 and/or an example satellite dish
125. While some methods of enabling communication between the route
planner 118 and the first, second and/or third area controllers
108, 112 and 116 are shown in FIG. 1, communication may occur in
any other way.
[0021] In some examples, the UAV 102 is tasked to perform a mission
having mission objectives. The mission objectives may define the
task to be performed (e.g., deliver a package) and/or the time or
schedule that the task is to be performed. In the illustrated
example, based on the mission objective, the route planner 118
determines a first route and/or flight path 126 between a first
location 128 and a second location 130. The first route 126 may be
the fastest route and/or the shortest route between the first
location 128 and the second location 130. However, while the first
route 126 may be the most efficient route for the UAV 102 to travel
between the first location 128 and the second location 130, the
first route 126 also passes through the first restricted area 106
that imposes a restriction(s) on travel through the first
restricted area 106. For example, the first restricted area 106 may
restrict the ability of the UAV 102 from obtaining image data when
flying through the first restricted area 106, the ability of the
UAV 102 to fly through the first restricted area 106 at certain
times unless a toll or access fee is paid and/or the ability of the
UAV 102 to generate a threshold amount of noise when flying through
the first restricted area 106. While the above examples mention the
first restricted area 106 and some restrictions that may be imposed
on the first restricted area 106, any restriction may be imposed by
any of the first, second and/or third restricted areas 106, 110
and/or 114.
[0022] In the illustrated example, to enable the UAV 102 to travel
along the first route 126 and through the first restricted area
106, the route planner 118 negotiates with the first area
controller 108 to enable the UAV 102 to be granted access through
the first restricted area 106. The negotiation may occur prior to
flight and/or during flight. In this example, the negotiation
includes the route planner 118 communicating and/or conveying a
restriction request 132 to the first area controller 108 and the
first area controller 108 communicating and/or conveying
restriction data 134 to the route planner 118 in response to the
restriction request 132 received. In some examples, the restriction
request 132 is a request requesting what, if any, restrictions are
imposed on the first restricted area 106 and the restriction data
134 includes the boundaries and/or restrictions, if any, present on
the first restricted area 106. The restrictions present on the
first restricted area 106 may be related to the configuration of
the UAV 102, the flight times that the UAV 102 may pass through the
first restricted area 106, limitations on the mission objectives
and/or any access fee and/or tolls associated with passing through
the first restricted area 106.
[0023] In some examples, to determine whether the mission
objective(s) complies with the restriction data 134, in response to
the restriction data 134 received, the route planner 118 compares
the restriction data 134 to the mission objectives. For example, if
the mission objective is to fly through the first restricted area
106 at 1 PM and the first restricted area 106 has a 6 PM curfew,
the route planner 118 determines that the mission objective is
compliant with the restriction imposed on the first restricted area
106 and communicates and/or otherwise conveys a restriction
compliance notice 136 to the first area controller 108. The
restriction compliance notice 136 may include data relating to the
configuration of the UAV 102 and/or data related to the mission
and/or the mission objectives. In other words, the restriction
compliance notice 136 may certify that the UAV 102 complies with
the restriction(s).
[0024] In examples in which the mission objective is to fly through
the first restricted area 106 at 7 PM and the first restricted area
106 has a 6 PM curfew, the route planner 118 determines that the
mission objective and/or the UAV 102 is not compliant with the
restriction imposed by the first restricted area 106. In such
examples, the route planner 118 may update the first route 126 to a
second route 138 where the second route 138 avoids passing through
the first restricted area 106. In other examples, the restriction
data 134 may include an option to pay a fee to pass through the
first restricted area 106 any time after the 6 PM curfew. While the
above examples mention a curfew implemented on the first restricted
area 106 as an example type of restriction that may be imposed, the
first, second and/or third restricted area(s) 106, 110 and/or 114
may impose any restriction and associate any fee structure
therewith.
[0025] In examples in which the mission objective is to obtain
image data along certain portions of the first route 126 and the
first restricted area 106 imposes a no-camera restriction, the
ability of the UAV 102 to comply with the no-camera restriction is
dependent on the ability of the UAV 102 to disable the camera when
flying through the first restricted area 106 and to obtain image
data along certain portions of the first route 126. To enable the
UAV 102 to comply with the no-camera restriction, in some examples,
the UAV 102 is configured to dynamically enable and/or disable
different subsystems of the UAV 102 in flight.
[0026] To enable the UAV 102 to determine when to enable/disable
the different abilities and/or settings of the UAV 102, in some
examples, the UAV 102 determines its position by receiving first
location and/or positional data from an example GPS satellite 140
and compares the first location data to second location and/or
positional data that defines the boundary of the first area 106.
The second location data may be accessed and/or included in the
restriction data 134. When the UAV 102 approaches the first
restricted area 106, in some examples, the route planner 118
communicates and/or conveys a configuration command 142 to the UAV
102 to cause the UAV 102 to disable the camera prior to the UAV 102
entering the first restricted area 106. Upon complying with the
no-camera restriction, in some examples, the UAV 102 and/or the
route planner 118 provide the restriction compliance notice 136 to
the first area controller 108 indicating the same.
[0027] FIG. 2 illustrates an example implementation of the example
route planner 118 of FIG. 1. In the illustrated example, the route
planner 118 includes an example mission objective determiner 202,
an example flight path determiner 204, an example negotiator 206
and an example restricted area identifier 208. Additionally, in the
illustrated example, the route planner 118 includes an example
configuration identifier 210, an example restriction/configuration
comparator 212, an example location determiner 214, an example
location comparator 216, an example compliance controller 218, an
example notice generator 220 and an example database 222.
[0028] In the illustrated example, to determine the mission
objective(s) of the UAV 102, the mission objective determiner 202
accesses data and/or mission objective data from the database 222.
In some examples, the mission objective(s) includes delivering a
package to the second location 130 within a threshold amount of
time after leaving the first location 128 and/or delivering the
package at the second location 130 at a particular time. Based on
the mission objective(s) determined by the mission objective
determiner 202, the first route 126 is determined by the flight
path determiner 204 and the restricted area identifier 208
identifies the first route 126 as passing through the first
restricted area 106.
[0029] To negotiate access through the first restricted area 106,
in the illustrated example, the negotiator 206 generates the
restriction request 132 that is communicated to and/or otherwise
conveyed to the first area controller 108. In response to the
restriction request 132, in this example, the negotiator 206
accesses and/or otherwise receives the restriction data 134 from
the first area controller 108. The restriction data 134 may include
the boundaries of the first restricted area 106 and/or any
restriction(s) associated with the first restricted area 106.
[0030] In response to receiving the restriction data 134, in some
examples, the negotiator 206 processes the restriction data 134 to
identify a restriction(s) and/or a boundary of the first restricted
area 106. To determine if the mission objective(s) is compliant
with the restriction(s), in some examples, the negotiator 206
compares the mission objective(s) to the restriction(s). For
example, if the restriction imposes an 8 PM flight curfew through
the first restricted area 106, the negotiator 206 compares the
flight restriction to the proposed flight schedule to verify that
the mission objective does not place the UAV 102 in the first
restricted area 106 after the 8 PM curfew.
[0031] In some examples, if the negotiator 206 determines that the
flight schedule does not comply with the restriction(s), the
negotiator 206 may further process the restriction data 134 to
determine if access is grantable through the first restricted area
106 if a fee or a toll is paid. In such examples, if the negotiator
206 determines that the first area controller 108 will grant access
through the first restricted area 106 after the imposed flight
curfew if a fee or toll is paid, the negotiator 206 may determine
to pay the fee and/or toll. In some examples, the negotiator 206
conveys a fee and/or other payment to the first area controller 108
via the restriction compliance notice 136 and/or any suitable
manner. If the negotiator 206 determines not to pay the toll, the
negotiator 206 may alternatively cause the flight path determiner
204 to determine the second route 138 that navigates the UAV 102
around the first restricted area 106
[0032] In other examples, the restriction(s) imposed on the first
restricted area 106 may restrict the use of a subsystem,
configuration and/or setting of the UAV 102. In such examples, the
negotiator 206 communicates and/or otherwise conveys the
restriction to the compliance controller 218 and/or the
restriction/configuration comparator 212 to determine whether or
not the configuration of the UAV 102 complies with the
restriction(s).
[0033] To determine whether or not the configuration of the UAV 102
complies with the restriction, in some examples, the configuration
identifier 210 determines the configuration of the UAV 102 and the
restriction/configuration comparator 212 compares the configuration
of the UAV 102 to the restriction(s) imposed on the first
restricted area 106 to assess compliance therewith. For example, if
the restriction data 134 limits the number of motors being operated
to three and the configuration identifier 210 determines that the
UAV 102 is operating six motors prior to entering the first
restricted area 106, the restriction/configuration comparator 212
will determine that the UAV 102 does not correctly comply with the
three-motor limit. To ensure that the UAV 102 complies with the
restriction placed on the first restricted area 106 when the UAV
102 flies through the first restricted area 106, the
restriction/configuration comparator 212 communicates the
discrepancy between the six-motors being used and the three-motor
limit to the compliance controller 218.
[0034] To determine when the UAV 102 is within a threshold of
entering the first restricted area 106, in some examples, the
location determiner 214 determines the location of the UAV 102 and
the location comparator 216 compares the location of the UAV 102 to
the location and/or boundary of the first restricted area 106 to
determine the relative positions of the UAV 102 and the restricted
area 106. To ensure that the UAV 102 complies with the imposed
restriction(s) when the UAV 102 enters and/or flies through the
first restricted area 106, in some examples, the compliance
controller 218 communicates and/or otherwise provides the
configuration command 142 to the UAV 102 to change the status of
the subsystem, configuration and/or setting of the UAV 102 when the
UAV 102 is within a threshold of the first restricted area 106. In
other words, in this example, the configuration command 142 causes
the UAV 102 to operate three motors instead of six motors when the
UAV 102 is within a threshold of the first restricted area 106.
While in this example the configuration command 142 reduces the
number of motors being used by the UAV 102, the configuration
command 142 may cause the UAV 102 to enable and/or disable any
subsystem (e.g., a camera, data transmission capabilities, data
storage capabilities, etc.) to enable compliance with a
restriction.
[0035] To enable the first area controller 108 to be notified of
the UAV 102 flying through the first restricted area 106 and/or to
enable the first area controller 108 to be notified that the UAV
102 complies with the associated restriction(s) when the UAV 102
enters and/or flies through the first restricted area 106, in the
illustrated example, the notice generator 220 communicates and/or
otherwise provides the restriction compliance notice 136 to the
first area controller 108. In some examples, the restriction
compliance notice 136 may include data relating to the
configuration of the UAV 102 and/or data relating to the mission of
the UAV 102.
[0036] FIG. 3 illustrates an example implementation of the first
area controller 108, the second area controller 112 and the third
area controller 116. In the illustrated example, the area
controller 108, 112, 116 includes an example terrestrial interface
302, an example restriction determiner 304, an example boundary
determiner 306, an example database 308 and an example UAV
interface 310. While the below example is described with reference
to the first area controller 108, the second area controller 112
and/or the third area controller 116 may be implemented in a
similar or the same way.
[0037] In the illustrated example, the terrestrial interface 302
interfaces with an individual and/or other entity to receive input
regarding the first restricted area 106, a restriction(s)
associated with the first restricted area 106 and/or a boundary of
the first restricted area 106. In some examples, the terrestrial
interface 302 receives input to add, remove and/or change a
restriction associated with the first restricted area 106. In some
examples, the restriction data 134 is stored in the database 308.
In some examples, the terrestrial interface 302 receives input to
add, remove and/or change a boundary associated with the first
restricted area 106. In some examples, the boundary data is stored
in the database 308.
[0038] To identify a restriction(s), if any, being imposed on the
first restricted area 106, in the illustrated example, the
restriction determiner 304 accesses the restriction data 134 from
the database 308 and identifies the presence of any restrictions
associated with the first restricted area 106. To identify the
boundary and/or limits of the first restricted area 106, the
boundary determiner 306 accesses boundary data from the database
308 and identifies any boundaries associated with the first
restricted area 106. In some examples, the boundary data may be
included in the restriction data 134.
[0039] In the illustrated example, the UAV interface 310 receives
and/or accesses the restriction request 132 from the route planner
118. After receiving the restriction request 132, in this example,
the UAV interface 310 accesses the restriction data 134 from the
database 308 and communicates and/or otherwise conveys the
restriction data 134 to the route planner 118. The restriction data
134 may include restrictions when traveling through the first
restricted area 106, tolls or fees to be paid when traveling
through the first restricted area 106, speed restrictions imposed
when traveling through the first restricted area 106, height
restrictions (e.g., a minimum height) when traveling through the
first restricted area 106, noise restrictions when traveling
through the first restricted area 106 and/or UAV subsystem
restrictions when traveling through the first restricted area 106.
In response to providing the restriction data 134, the UAV
interface 310 receives and/or accesses the restriction compliance
notice 136 communicated and/or conveyed by the route planner
118.
[0040] While an example manner of implementing the route planner
118 of FIG. 1 is illustrated in FIG. 2 and an example manner of
implementing the area controller 108, 112, 116 of FIG. 1 is
illustrated in FIG. 3, one or more of the elements, processes
and/or devices illustrated in FIGS. 2 and/or 3 may be combined,
divided, re-arranged, omitted, eliminated and/or implemented in any
other way. Further, the example mission objective determiner 202,
the example flight path determiner 204, the example negotiator 206,
the example restricted area identifier 208, the configuration
identifier 210, the example restriction/configuration comparator
212, the example location determiner 214, the example location
comparator 216, the example compliance controller 218, the example
notice generator 220, the example database 222, the example
terrestrial interface 302, the example restriction determiner 304,
the example boundary determiner 306, the example database 308
and/or the example UAV interface 310 and/or, more generally, the
example route planner 118 of FIG. 1 and the example first area
controller 108, the example second area controller 112 and the
example third area controller 116 of FIG. 1, may be implemented by
hardware, software, firmware and/or any combination of hardware,
software and/or firmware. Thus, for example, any of the example the
example mission objective determiner 202, the example flight path
determiner 204, the example negotiator 206, the example restricted
area identifier 208, the configuration identifier 210, the example
restriction/configuration comparator 212, the example location
determiner 214, the example location comparator 216, the example
compliance controller 218, the example notice generator 220, the
example database 222, the example terrestrial interface 302, the
example restriction determiner 304, the example boundary determiner
306, the example database 308 and/or the example UAV interface 310
and/or, more generally, the example route planner 118 of FIG. 1 and
the example first area controller 108, the example second area
controller 112 and the example third area controller 116 of FIG. 1
could be implemented by one or more analog or digital circuit(s),
logic circuits, programmable processor(s), application specific
integrated circuit(s) (ASIC(s)), programmable logic device(s)
(PLD(s)) and/or field programmable logic device(s) (FPLD(s)). When
reading any of the apparatus or system claims of this patent to
cover a purely software and/or firmware implementation, at least
one of the example mission objective determiner 202, the example
flight path determiner 204, the example negotiator 206, the example
restricted area identifier 208, the configuration identifier 210,
the example restriction/configuration comparator 212, the example
location determiner 214, the example location comparator 216, the
example compliance controller 218, the example notice generator
220, the example database 222, the example terrestrial interface
302, the example restriction determiner 304, the example boundary
determiner 306, the example database 308 and/or the example UAV
interface 310 and/or, more generally, the example route planner 118
of FIG. 1 and the example first area controller 108, the example
second area controller 112 and the example third area controller
116 of FIG. 1 is/are hereby expressly defined to include a tangible
computer readable storage device or storage disk such as a memory,
a digital versatile disk (DVD), a compact disk (CD), a Blu-ray
disk, etc. storing the software and/or firmware. Further still, the
example the example route planner 118 of FIG. 1 and the example
first area controller 108, the example second area controller 112
and the example third area controller 116 of FIG. 1 may include one
or more elements, processes and/or devices in addition to, or
instead of, those illustrated in FIGS. 2 and/or 3, and/or may
include more than one of any or all of the illustrated elements,
processes and devices.
[0041] Flowcharts representative of example machine readable
instructions for implementing the route planner 118 of FIGS. 1 and
2 are shown in FIGS. 4, 5 and 6 and a flowchart representative of
machine readable instructions for implementing the first area
controller 108 of FIGS. 1 and 3 is shown in FIG. 7. In this
example, the machine readable instructions comprise a program for
execution by a processor such as the processors 812, 912 shown in
the example processor platform 800, 900 discussed below in
connection with FIGS. 8, 9. The program may be embodied in software
stored on a tangible computer readable storage medium such as a
CD-ROM, a floppy disk, a hard drive, a digital versatile disk
(DVD), a Blu-ray disk, or a memory associated with the processors
812, 912, but the entire program and/or parts thereof could
alternatively be executed by a device other than the processor 812,
912 and/or embodied in firmware or dedicated hardware. Further,
although the example program is described with reference to the
flowcharts illustrated in FIGS. 4, 5, 6 and 7, many other methods
of implementing the example route planner 118 and the example first
area controller 108, the second area controller 112 and the third
area controller 116 may alternatively be used. For example, the
order of execution of the blocks may be changed, and/or some of the
blocks described may be changed, eliminated, or combined.
[0042] As mentioned above, the example processes of FIGS. 4, 5, 6
and 7 may be implemented using coded instructions (e.g., computer
and/or machine readable instructions) stored on a tangible computer
readable storage medium such as a hard disk drive, a flash memory,
a read-only memory (ROM), a compact disk (CD), a digital versatile
disk (DVD), a cache, a random-access memory (RAM) and/or any other
storage device or storage disk in which information is stored for
any duration (e.g., for extended time periods, permanently, for
brief instances, for temporarily buffering, and/or for caching of
the information). As used herein, the term tangible computer
readable storage medium is expressly defined to include any type of
computer readable storage device and/or storage disk and to exclude
propagating signals and to exclude transmission media. As used
herein, "tangible computer readable storage medium" and "tangible
machine readable storage medium" are used interchangeably.
Additionally or alternatively, the example processes of FIGS. 4, 5,
6 and 7 may be implemented using coded instructions (e.g., computer
and/or machine readable instructions) stored on a non-transitory
computer and/or machine readable medium such as a hard disk drive,
a flash memory, a read-only memory, a compact disk, a digital
versatile disk, a cache, a random-access memory and/or any other
storage device or storage disk in which information is stored for
any duration (e.g., for extended time periods, permanently, for
brief instances, for temporarily buffering, and/or for caching of
the information). As used herein, the term non-transitory computer
readable medium is expressly defined to include any type of
computer readable storage device and/or storage disk and to exclude
propagating signals and to exclude transmission media. As used
herein, when the phrase "at least" is used as the transition term
in a preamble of a claim, it is open-ended in the same manner as
the term "comprising" is open ended.
[0043] The program of FIG. 4 begins with the mission objective(s)
being determined by the mission objective determiner 202 (block
402). Based on the mission objective and a flight path associated
with the mission objective passing through a restricted area(s)
106, 110, 114, the negotiator 206 negotiates access through the
restricted area(s) 106, 110, 114 (block 404). In some examples, the
negotiator 206 negotiates access through the restricted area 106,
110, 114 based on the mission objective(s) complying with the
restriction(s) imposed by the restricted area 106, 110, 114, based
on the UAV 102 being capable of complying with the restriction(s)
imposed by the restricted area 106, 110, 114 and/or based on a fee
or other consideration being made.
[0044] First positional data of the UAV 102 and second positional
data of the restricted area 106, 110, 114 are accessed by the
location comparator 216 (block 406). In some examples, the location
of the UAV 102 is determined by the location determiner 214. Based
on the first and second positional data, the compliance controller
218 generates the configuration command 142 that causes the UAV 102
to dynamically adjust the configuration of the UAV 102 to enable
the UAV 102 to comply with the restriction of the restricted area
106, 110, 114 (block 408). The notice generator 220 generates the
restriction compliance notice 136 accessible by the area controller
108, 112, 116 associated with the corresponding restricted area(s)
106, 110, 114.
[0045] FIG. 5 illustrates an example of performing the processes of
block 404 to negotiate access through a restricted area(s) along a
flight path associated with the mission objective(s). The program
of FIG. 5 begins with the restricted area identifier 208
identifying the restricted area 106, 110, 114 within the flight
path 126 (block 502) and the negotiator 206 generating the
restriction request 132 that is accessible by the area controller
108, 112, 116 associated with the corresponding restricted area
106, 110, 114 (block 504). In response to the restriction request
132, the negotiator 206 accesses the restriction data 134
associated with the restricted area 106, 110, 114 (block 506). In
some examples, the restriction data 134 includes the boundaries of
the restricted area 106 and/or any restriction(s) associated with
the restricted area 106, 110, 114.
[0046] The negotiator 206 compares a restriction(s) included in the
restriction data 134 to a flight schedule associated with the
mission objective (block 508). In some examples, such a comparison
enables the negotiator 206 to determine if the flight schedule is
compliant with the restriction(s) (block 510). If the negotiator
206 determines that the flight schedule does not comply with the
restriction(s), the negotiator 206 processes the restriction data
134 to determine if an access fee is payable that enables the UAV
102 to pass through the restricted area 106, 110, 114 even though
the UAV 102 does not immediately and/or currently comply with the
restrictions (block 512).
[0047] If an access fee is payable to enable access to be granted
through the restricted area 106, 110, 114, the negotiator 206
determines whether or not to pay the fee (block 514). If the
negotiator 206 determines to pay the fee, control advances to block
516 and the fee is paid by providing payment and/or other
compensation/consideration to the restricted area 106, 110, 114
and/or the associated area controller 108, 112, 116 (block 516).
However, if the negotiator 206 determines not to pay the fee,
control advances to block 518 and the negotiator 206 causes the
flight path determiner 204 to update the flight path to, for
example, the second route 138 to enable the UAV 102 to navigate
around the restricted area 106, 110, 114 (block 518).
[0048] If the negotiator 206 determines that the flight schedule
does comply with the restriction(s), control advances to block 520
and the restriction/configuration comparator 212 compares the
restriction to the configuration of the UAV 102 associated with the
mission objective(s) (block 520). In some examples, such a
comparison enables the restriction/configuration comparator 212
and/or the compliance controller 218 to determine if the
configuration of the UAV 102 is capable of being compliant with the
restriction (block 522). For example, if the restriction data 134
places limitations on camera usage and the UAV 102 is capable of
dynamically enabling/disabling the camera, the
restriction/configuration comparator 212 and/or the compliance
controller 218 determines that the UAV 102 is capable of complying
with the restriction regardless of the current state of the camera
(e.g., enabled/disabled). If the UAV 102 is capable of complying
with the restriction, control advances to block 406. However, if
the UAV 102 is not capable of complying with the restriction,
control advances to block 512.
[0049] FIG. 6 illustrates an example of performing the processes of
block 408 to dynamically adjust the configuration of the UAV 102
based on the first and second positional data to enable compliancy
with the restriction. The program of FIG. 6 begins with the
configuration identifier 210 identifying the configuration of the
UAV 102 (block 602) and the restriction/configuration comparator
212 comparing the configuration of the UAV 102 to the restriction
(block 604). In some examples, such a comparison enables the
restriction/configuration comparator 212 and/or the compliance
controller 218 to determine if the configuration of the UAV 102 is
compliant with the restriction (block 606). If the
restriction/configuration comparator 212 and/or the compliance
controller 218 determines that the configuration of the UAV 102
complies with the restriction, control advances to block 410.
[0050] However, if the restriction/configuration comparator 212
and/or the compliance controller 218 determines that the
configuration of the UAV 102 is not compliant with the restriction,
control advances to block 608. For example, if the restriction
limits the number of motors and/or propellers being operated to
three and the configuration identifier 210 determines that the UAV
102 is operating six motors and/or propellers prior to entering the
first restricted area 106, the restriction/configuration comparator
212 will determine that the UAV 102 does not comply with the
three-motor limit based on the current operating mode.
[0051] To ensure that the UAV 102 complies with the restriction
placed on the restricted area 106, 110, 114, the location
comparator 216 compares the location of the UAV 102 to the location
and/or boundary of the restricted area 106, 110, 114 (block 608).
At block 610, the location comparator 212 determines when the UAV
102 is within a threshold of entering the restricted area 106, 110,
114 (block 610). If the UAV 102 is not within a threshold of
entering the restricted area 106, 110, 114, the negotiator 206
determines whether or not the UAV 102 has flown past the restricted
area 106, 110, 114 (block 611). For example, if the second
positional data of the restricted area 106, 110, 114 is no longer
in front of the first positional data of the UAV 102, the
negotiator 206 determines that the UAV 102 has flown past the
restricted area 106, 110, 114 and control advances to block
410.
[0052] If the UAV 102 is within a threshold of entering the
restricted area 106, 110, 114, the compliance controller 218
communicates and/or otherwise provides the configuration command
142 to the UAV 102 to dynamically adjust the configuration of the
UAV 102 to enable compliancy with the restriction (block 612).
[0053] The program of FIG. 7 begins with the boundary determiner
306 accessing boundary data from the database 308 to identify the
boundary of the restricted area 106, 110, 114 (block 702). The
boundary determiner 306 determines whether or not an update has
been provided to add, update and/or remove the boundary (block
704). If a boundary update is available, the boundary determiner
306 accesses the boundary update from the terrestrial interface 302
and stores the boundary update in the database 308 (block 706).
[0054] To identify a restriction(s) imposed on the restricted area
106, 110, 114, the restriction determiner 304 accesses the
restriction data 134 from the database 308 and identifies a
restriction(s) associated with the restricted area 106, 110, 114
(block 708). The restriction determiner 304 determiners whether or
not an update has been provided to add, update and/or remove a
restriction (block 710). If a restriction update is available, the
restriction determiner 304 accesses the restriction from the
terrestrial interface 302 and stores the restriction update in the
database 308 (block 712). At block 714, the UAV interface 310
interfaces with the UAV 102 to negotiate access through the
restricted area 106, 110, 114 by the UAV 102 (block 714).
[0055] FIG. 8 is a block diagram of an example processor platform
800 capable of executing the instructions of FIGS. 4, 5 and 6 to
implement the route planner 118 of FIGS. 1 and 2. The processor
platform 800 can be, for example, a server, a personal computer, a
mobile device (e.g., a cell phone, a smart phone, a tablet such as
an iPad.TM.), a personal digital assistant (PDA), an Internet
appliance, or any other type of computing device.
[0056] The processor platform 800 of the illustrated example
includes a processor 812. The processor 812 of the illustrated
example is hardware. For example, the processor 812 can be
implemented by one or more integrated circuits, logic circuits,
microprocessors or controllers from any desired family or
manufacturer. In this example, processor 812 implements the example
mission objective determiner 202, the example flight path
determiner 204, the example negotiator 206, the example restricted
area identifier 208, the example configuration identifier 210, the
example restriction/configuration comparator 212, the example
location determiner 214, the example location comparator 216, the
example compliance controller 218 and the example notice generator
220.
[0057] The processor 812 of the illustrated example includes a
local memory 813 (e.g., a cache). The processor 812 of the
illustrated example is in communication with a main memory
including a volatile memory 814 and a non-volatile memory 816 via a
bus 818. The volatile memory 814 may be implemented by Synchronous
Dynamic Random Access Memory (SDRAM), Dynamic Random Access Memory
(DRAM), RAMBUS Dynamic Random Access Memory (RDRAM) and/or any
other type of random access memory device. The non-volatile memory
816 may be implemented by flash memory and/or any other desired
type of memory device. Access to the main memory 814, 816 is
controlled by a memory controller.
[0058] The processor platform 800 of the illustrated example also
includes an interface circuit 820. The interface circuit 820 may be
implemented by any type of interface standard, such as an Ethernet
interface, a universal serial bus (USB), and/or a PCI express
interface.
[0059] In the illustrated example, one or more input devices 822
are connected to the interface circuit 820. The input device(s) 822
permit(s) a user to enter data and commands into the processor 812.
The input device(s) can be implemented by, for example, an audio
sensor, a microphone, a camera (still or video), a keyboard, a
button, a mouse, a touchscreen, a track-pad, a trackball, isopoint
and/or a voice recognition system.
[0060] One or more output devices 824 are also connected to the
interface circuit 820 of the illustrated example. The output
devices 824 can be implemented, for example, by display devices
(e.g., a light emitting diode (LED), an organic light emitting
diode (OLED), a liquid crystal display, a cathode ray tube display
(CRT), a touchscreen, a tactile output device, a printer and/or
speakers). The interface circuit 820 of the illustrated example,
thus, typically includes a graphics driver card, a graphics driver
chip or a graphics driver processor.
[0061] The interface circuit 820 of the illustrated example also
includes a communication device such as a transmitter, a receiver,
a transceiver, a modem and/or network interface card to facilitate
exchange of data with external machines (e.g., computing devices of
any kind) via a network 826 (e.g., an Ethernet connection, a
digital subscriber line (DSL), a telephone line, coaxial cable, a
cellular telephone system, etc.).
[0062] The processor platform 800 of the illustrated example also
includes one or more mass storage devices 828 for storing software
and/or data. Examples of such mass storage devices 828 include
floppy disk drives, hard drive disks, compact disk drives, Blu-ray
disk drives, RAID systems, and digital versatile disk (DVD)
drives.
[0063] The coded instructions 832 of FIGS. 4, 5 and 6 may be stored
in the mass storage device 828, in the volatile memory 814, in the
non-volatile memory 816, and/or on a removable tangible computer
readable storage medium such as a CD or DVD.
[0064] FIG. 9 is a block diagram of an example processor platform
900 capable of executing the instructions of FIG. 7 to implement
the area controller 108, 112, 116 of FIGS. 1 and 3. The processor
platform 900 can be, for example, a server, a personal computer, a
mobile device (e.g., a cell phone, a smart phone, a tablet such as
an iPad.TM.), a personal digital assistant (PDA), an Internet
appliance, or any other type of computing device.
[0065] The processor platform 900 of the illustrated example
includes a processor 912. The processor 912 of the illustrated
example is hardware. For example, the processor 912 can be
implemented by one or more integrated circuits, logic circuits,
microprocessors or controllers from any desired family or
manufacturer. In this example, the processor 912 implements the
terrestrial interface 302, the restriction determiner 304, the
boundary determiner 306 and the UAV interface 310.
[0066] The processor 912 of the illustrated example includes a
local memory 913 (e.g., a cache). The processor 912 of the
illustrated example is in communication with a main memory
including a volatile memory 914 and a non-volatile memory 916 via a
bus 918. The volatile memory 914 may be implemented by Synchronous
Dynamic Random Access Memory (SDRAM), Dynamic Random Access Memory
(DRAM), RAMBUS Dynamic Random Access Memory (RDRAM) and/or any
other type of random access memory device. The non-volatile memory
916 may be implemented by flash memory and/or any other desired
type of memory device. Access to the main memory 914, 916 is
controlled by a memory controller.
[0067] The processor platform 900 of the illustrated example also
includes an interface circuit 920. The interface circuit 920 may be
implemented by any type of interface standard, such as an Ethernet
interface, a universal serial bus (USB), and/or a PCI express
interface.
[0068] In the illustrated example, one or more input devices 922
are connected to the interface circuit 920. The input device(s) 922
permit(s) a user to enter data and commands into the processor 912.
The input device(s) can be implemented by, for example, an audio
sensor, a microphone, a camera (still or video), a keyboard, a
button, a mouse, a touchscreen, a track-pad, a trackball, isopoint
and/or a voice recognition system.
[0069] One or more output devices 924 are also connected to the
interface circuit 920 of the illustrated example. The output
devices 924 can be implemented, for example, by display devices
(e.g., a light emitting diode (LED), an organic light emitting
diode (OLED), a liquid crystal display, a cathode ray tube display
(CRT), a touchscreen, a tactile output device, a printer and/or
speakers). The interface circuit 920 of the illustrated example,
thus, typically includes a graphics driver card, a graphics driver
chip or a graphics driver processor.
[0070] The interface circuit 920 of the illustrated example also
includes a communication device such as a transmitter, a receiver,
a transceiver, a modem and/or network interface card to facilitate
exchange of data with external machines (e.g., computing devices of
any kind) via a network 926 (e.g., an Ethernet connection, a
digital subscriber line (DSL), a telephone line, coaxial cable, a
cellular telephone system, etc.).
[0071] The processor platform 900 of the illustrated example also
includes one or more mass storage devices 928 for storing software
and/or data. Examples of such mass storage devices 928 include
floppy disk drives, hard drive disks, compact disk drives, Blu-ray
disk drives, RAID systems, and digital versatile disk (DVD)
drives.
[0072] The coded instructions 932 of FIG. 7 may be stored in the
mass storage device 928, in the volatile memory 914, in the
non-volatile memory 916, and/or on a removable tangible computer
readable storage medium such as a CD or DVD.
[0073] From the foregoing, it will be appreciated that the above
disclosed methods, apparatus and articles of manufacture relate to
negotiating access for aircraft through areas that may include
restrictions on when actives may be performed and/or what
activities may be performed when flying through the area. In some
examples, the negotiation takes place prior to take off and/or
during the flight. The examples disclosed herein also enable
aircraft and/or associated systems to negotiate access through an
area by agreeing to pay a fee. While the examples disclosed herein
mention aircraft and/or unmanned aerial vehicles, the examples
disclosed herein may additionally and/or alternatively be
implemented on land-based vehicles and/or water-based vehicles.
[0074] To enable the aircraft to achieve a goal of a mission (e.g.,
arriving at a destination a particular time) and comply with a
restriction, the configuration of the aircraft may be dynamically
changed during flight. For example, if the mission goal is for the
aircraft to fly 50 miles per hour (50 mph) and there is a speed
limit of 45 mph in an area, the aircraft can dynamically adjust its
speed to 45 mph when flying through the area. The examples
disclosed herein enable people and/or entities affiliated with the
area to update, change, removed and/or add restrictions and/or
update, change, remove and/or add boundaries to an area. In other
words, a first restriction may be updated or the first restriction
may be removed all together.
Example 1
[0075] An example apparatus includes an unmanned vehicle including
a body and a propulsion source to propel the unmanned vehicle
during flight; and a route planner to determine a route through an
area including a restriction, the route planner to negotiate access
through the restricted area.
Example 2
[0076] In Example 1 or other examples, the route planner includes a
negotiator to compare a mission objective of the unmanned vehicle
to the restriction to determine compliance of the unmanned vehicle
with the restriction, the unmanned vehicle to be granted access
through the restricted area based on the unmanned vehicle complying
with the restriction.
Example 3
[0077] In Example 2 or other examples, in response to identifying
the presence of the restricted area along the route, the negotiator
to access restriction data associated with the restricted area to
determine the presence of the restriction.
Example 4
[0078] In Example 3 or other examples, the negotiator is to access
the restriction data prior to flight.
Example 5
[0079] In Examples 1 or 2 or other examples, the restriction
includes a configuration restriction, the route planner includes a
compliance controller to enable the unmanned vehicle to comply with
the configuration restriction when the unmanned vehicle travels
through the restricted area.
Example 6
[0080] In Example 5 or other examples, the route planner includes a
configuration identifier and a restriction/configuration
comparator, the configuration identifier to determine a
configuration of the unmanned vehicle and the
restriction/configuration comparator to compare the configuration
of the unmanned vehicle to the configuration restriction to
determine if the unmanned vehicle complies with the configuration
restriction.
Example 7
[0081] In Example 6 or other examples, in response to the unmanned
vehicle not complying with the configuration restriction, the
compliance controller to dynamically change the configuration of
the unmanned vehicle to enable the unmanned vehicle to comply with
the configuration restriction when the unmanned vehicle travels
through the restricted area.
Example 8
[0082] In Example 6 or other examples, the route planner includes a
location determiner and a location comparator, the location
determiner to determine first positional data of the unmanned
vehicle and the location comparator to compare the first positional
data to second positional data of the restricted area to determine
when the first positional data is within a threshold of the second
positional data.
Example 9
[0083] In Example 9 or other examples, in response to the unmanned
vehicle not complying with the configuration restriction and the
first positional data being within the threshold of the second
positional data, the compliance controller to change the
configuration of the unmanned vehicle to enable the unmanned
vehicle to comply with the configuration restriction when the
unmanned vehicle travels through the restricted area.
Example 10
[0084] In Examples 1 or 2 or other examples, the route planner
includes a notice generator to generate a notice associated with
the unmanned vehicle complying with the restriction.
Example 11
[0085] In Example 1 or other examples, the route planner includes a
negotiator to compare a mission objective of the unmanned vehicle
to the restriction, in response to the mission objective not
complying with the restriction and the restriction including an
access fee associated therewith, the negotiation including the
negotiator determining to pay the access fee.
Example 12
[0086] In Example 11 or other examples, in response to the
negotiator determining to pay the access fee, the unmanned vehicle
to access the restricted area.
Example 13
[0087] In Examples 1 or 2 or other examples, the route includes a
first route and the route planner includes a flight path
determiner, in response to a mission objective not complying with
the restriction, the flight path determiner to determine a second
route that avoids traveling through the restricted area.
Example 14
[0088] In Examples 1 or 2 or other examples, the unmanned vehicle
includes the route planner.
Example 15
[0089] In Examples 1 or 2 or other examples, the unmanned vehicle
includes an unmanned aerial vehicle.
Example 16
[0090] An example method includes determining, by executing an
instruction with at least one processor, a route for an unmanned
vehicle through an area including a restriction; and negotiating,
by executing an instruction with at least one processor, access
through the restricted area.
Example 17
[0091] In Example 16 or other examples, the negotiating includes
comparing a mission objective of the unmanned vehicle to the
restriction to determine compliance of the unmanned vehicle with
the restriction, the unmanned vehicle being granted access through
the restricted area based on the unmanned vehicle complying with
the restriction.
Example 18
[0092] In Example 17 or other examples, in response to identifying
the presence of the restricted area along the route, accessing
restriction data associated with the restricted area to determine
the presence of the restriction.
Example 19
[0093] In Example 17 or other examples, accessing the restriction
data including accessing the restriction data prior to flight.
Example 20
[0094] In Examples 16 or 17 or other examples, the restriction
includes a configuration restriction, further including enabling
the unmanned vehicle to comply with the configuration restriction
when the unmanned vehicle travels through the restricted area.
Example 21
[0095] In Example 20 or other examples, further including
determining a configuration of the unmanned vehicle and comparing
the configuration of the unmanned vehicle to the configuration
restriction to determine if the unmanned vehicle complies with the
configuration restriction.
Example 22
[0096] In Example 21 or other examples, in response to the unmanned
vehicle not complying with the configuration restriction, changing
the configuration of the unmanned vehicle to enable the unmanned
vehicle to comply with the configuration restriction when the
unmanned vehicle travels through the restricted area.
Example 23
[0097] In Example 21 or other examples, further including
determining first positional data of the unmanned vehicle and
comparing the first positional data to second positional data of
the restricted area to determine when the first positional data is
within a threshold of the second positional data.
Example 24
[0098] In Example 23 or other examples, in response to the unmanned
vehicle not complying with the configuration restriction and the
first positional data being within the threshold of the second
positional data, changing the configuration of the unmanned vehicle
to enable the unmanned vehicle to comply with the configuration
restriction when the unmanned vehicle travels through the
restricted area.
Example 25
[0099] In Examples 16 or 17 or other examples, further including
generating a notice associated with the unmanned vehicle complying
with the restriction.
Example 26
[0100] In Examples 16 or 17 or other examples, further including
comparing a mission objective of the unmanned vehicle to the
restriction, in response to the mission objective not complying
with the restriction and the restriction including an access fee
associated therewith, determining to pay the access fee.
Examples 27
[0101] In Example 26 or other examples, in response to determining
to pay the access fee, accessing the restricted area with the
unmanned vehicle.
Example 28
[0102] In Example 16 or other examples, further including, in
response to a mission objective not complying with the restriction,
determining a second route that avoids traveling through the
restricted area.
Example 29
[0103] An example tangible computer-readable medium comprising
instructions that, when executed, cause a processor to, at least:
determine a route for an unmanned vehicle through an area including
a restriction; and negotiate access through the restricted
area.
Example 30
[0104] In Example 29 or other examples, the negotiating includes
comparing a mission objective of the unmanned vehicle to the
restriction to determine compliance of the unmanned vehicle with
the restriction, the unmanned vehicle being granted access through
the restricted area based on the unmanned vehicle complying with
the restriction.
Example 31
[0105] In Example 30 or other examples, the instructions, when
executed, further cause the processor to access restriction data
associated with the restricted area to determine the presence of
the restriction in response to identifying the presence of the
restricted area along the route.
Example 32
[0106] In Example 30 or other examples, accessing the restriction
data includes accessing the restriction data prior to flight.
Example 33
[0107] In Examples 29 or 30 or other examples, the restriction
includes a configuration restriction, wherein the instructions,
when executed, further cause the processor to enable the unmanned
vehicle to comply with the configuration restriction when the
unmanned vehicle travels through the restricted area.
Example 34
[0108] In Example 33 or other examples, the instructions, when
executed, further cause the processor to determine a configuration
of the unmanned vehicle and compare the configuration of the
unmanned vehicle to the configuration restriction to determine if
the unmanned vehicle complies with the configuration
restriction.
Example 35
[0109] In Example 34 or other examples the instructions, when
executed, further cause the processor to change the configuration
of the unmanned vehicle to enable the unmanned vehicle to comply
with the configuration restriction when the unmanned vehicle
travels through the restricted area in response to the unmanned
vehicle not complying with the configuration restriction.
Example 36
[0110] In Example 34 or other examples, the instructions, when
executed, further cause the processor to determine first positional
data of the unmanned vehicle and compare the first positional data
to second positional data of the restricted area to determine when
the first positional data is within a threshold of the second
positional data.
Example 37
[0111] In Example 36 or other examples, the instructions, when
executed, further cause the processor to change the configuration
of the unmanned vehicle to enable the unmanned vehicle to comply
with the configuration restriction when the unmanned vehicle
travels through the restricted area in response to the unmanned
vehicle not complying with the configuration restriction and the
first positional data being within the threshold of the second
positional data.
Example 38
[0112] In Examples 29 or 30 or other examples, the instructions,
when executed, further cause the processor to generate a notice
associated with the unmanned vehicle complying with the
restriction.
Example 39
[0113] In Examples 29 or 30 or other examples, the instructions,
when executed, further cause the processor to compare a mission
objective of the unmanned vehicle to the restriction in response to
the mission objective not complying with the restriction and the
restriction including an access fee associated therewith, determine
to pay the access fee.
Example 40
[0114] In Example 39 or other examples, the instructions, when
executed, further cause the processor to access the restricted area
with the unmanned vehicle in response to determining to pay the
access fee.
Example 41
[0115] In Example 29 or other examples, the instructions, when
executed, further cause the processor to determine a second route
that avoids traveling through the restricted area in response to a
mission objective not complying with the restriction.
Example 42
[0116] An example system for use with an unmanned vehicle includes
means for determining a route for an unmanned vehicle through an
area including a restriction; and means for negotiating access
through the restricted area.
Example 43
[0117] In Example 42 or other examples, the negotiating includes
comparing a mission objective of the unmanned vehicle to the
restriction to determine compliance of the unmanned vehicle with
the restriction, the unmanned vehicle being granted access through
the restricted area based on the unmanned vehicle complying with
the restriction.
Example 44
[0118] In Example 43 or other examples, further including means for
accessing restriction data associated with the restricted area to
determine the presence of the restriction in response to
identifying the presence of the restricted area along the
route.
Example 45
[0119] In Example 43 or other examples, accessing the restriction
data including accessing the restriction data prior to flight.
Example 46
[0120] In Examples 42 or 43 or other examples, the restriction
includes a configuration restriction, further including means for
enabling the unmanned vehicle to comply with the configuration
restriction when the unmanned vehicle travels through the
restricted area.
Example 47
[0121] In Example 46 or other examples, further including means for
determining a configuration of the unmanned vehicle and comparing
the configuration of the unmanned vehicle to the configuration
restriction to determine if the unmanned vehicle complies with the
configuration restriction.
Example 48
[0122] In Example 47 or other examples, further including means for
changing the configuration of the unmanned vehicle to enable the
unmanned vehicle to comply with the configuration restriction when
the unmanned vehicle travels through the restricted area in
response to the unmanned vehicle not complying with the
configuration restriction.
Example 49
[0123] In Example 47 or other examples, further including means for
determining first positional data of the unmanned vehicle and
comparing the first positional data to second positional data of
the restricted area to determine when the first positional data is
within a threshold of the second positional data.
Example 50
[0124] In Example 49 or other examples, further including means for
changing the configuration of the unmanned vehicle to enable the
unmanned vehicle to comply with the configuration restriction when
the unmanned vehicle travels through the restricted area in
response to the unmanned vehicle not complying with the
configuration restriction and the first positional data being
within the threshold of the second positional data.
Example 51
[0125] In Examples 42 or 43 or other examples, further including
means for generating a notice associated with the unmanned vehicle
complying with the restriction.
Example 52
[0126] In Examples 42 or 43 or other examples, further including
means for comparing a mission objective of the unmanned vehicle to
the restriction in response to the mission objective not complying
with the restriction and the restriction including an access fee
associated therewith, means for determining to pay the access
fee.
Example 53
[0127] In example 52 or other examples, further including means for
accessing the restricted area with the unmanned vehicle in response
to the means for determining to pay the access fee.
Example 54
[0128] In Examples 42 or 43 or other examples, further including
means for determining a second route that avoids traveling through
the restricted area in response to a mission objective not
complying with the restriction.
[0129] Although certain example methods, apparatus and articles of
manufacture have been disclosed herein, the scope of coverage of
this patent is not limited thereto. On the contrary, this patent
covers all methods, apparatus and articles of manufacture fairly
falling within the scope of the claims of this patent.
* * * * *